Battery pick-and-place method and system

Abstract

This invention discloses a battery loading and unloading method and system. The battery loading and unloading method includes the following steps: controlling the movement of a push rod relative to a tray; and adjusting the tray height so that the height difference between the end of the tray near the target object and the target object is within a threshold range; wherein, both the tray and the target object are used to support the battery, and the push rod is used to act on the battery to switch the battery between being supported by the tray and being supported by the target object. The battery loading and unloading system includes: a push rod, a tray, and a controller; the controller is used to control the movement of the push rod relative to the tray; and the controller is also used to adjust the tray height so that the height difference between the end of the tray near the target object and the target object is within a threshold range. By adjusting the tray height (i.e., the theoretical height) in real time, the battery will not get stuck due to an excessively large actual height difference between the tray and the target object, reducing the battery swapping failure rate.

Description

[0001] This application is a divisional application of Chinese patent application filed on September 10, 2018, with application number 2018110535881 and invention title "Battery Removal and Placement Method and System". Technical Field

[0002] This invention relates to a battery removal and placement method and system. Background Technology

[0003] For electric vehicles that use battery swapping, the battery needs to be replaced periodically or irregularly. Generally, the battery swapping equipment is fixed in a designated location, and the electric vehicle is parked near the equipment under control for battery replacement. Furthermore, battery replacement also involves the battery being removed from the battery compartment by the swapping equipment's tray, which also has battery support devices.

[0004] The battery replacement process generally involves the following steps: the battery swapping device extends its tray to align with the battery support device on the electric vehicle or battery compartment; a push rod pulls the battery from the battery support device onto the tray to remove the old battery from the electric vehicle or the new battery from the battery compartment; and a push rod pushes the battery from the tray onto the battery support device to place the new battery on the electric vehicle or the old battery on the battery compartment.

[0005] Because of the battery's weight, when the battery is placed on the tray, it will press down on the tray, causing elastic deformation and making the actual height of the tray lower than the theoretically set height. When the battery is placed on the battery support device of the electric vehicle, it will also press down on the battery support device, which may also change the amount of elastic deformation of the tire and change the height of the battery support device.

[0006] When placing batteries, as they gradually move from the tray to the battery support, the tray's load-bearing capacity decreases, deformation decreases, the tray's downward pressure decreases, and the battery support's downward pressure increases. Conversely, when removing batteries, as they gradually move from the support to the tray, the tray's load-bearing capacity increases, tray deformation increases, the tray's downward pressure increases, and the battery support's downward pressure decreases. In other words, without adjusting the tray's theoretical height, its actual height will change. Furthermore, because the tray is cantilevered during battery placement and removal, the end of the tray closest to the battery support may experience further deformation and downward pressure.

[0007] All of the above can cause the tray and battery support device to misalign during the battery swapping process, resulting in the battery getting stuck, and in severe cases, battery swapping failure. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the height of the tray and the battery support device (i.e. the target object) may be misaligned during battery swapping, which may cause the battery to be stuck, and to provide a battery loading and unloading method and system.

[0009] The present invention solves the above-mentioned technical problems through the following technical solution:

[0010] A method for removing and placing a battery, characterized by comprising the following steps:

[0011] Control the movement of the push rod relative to the tray; and

[0012] Adjust the tray height so that the height difference between the end of the tray closest to the target and the target is within a threshold range; adjust the tray height according to the position of the push rod; when the push rod extends, lower the tray height and control the push rod to extend to push the battery relative to the tray so that the battery switches from being supported by the tray to being supported by the target.

[0013] And / or, when the push rod retracts, the height of the tray is increased, and the push rod is controlled to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray; wherein, both the tray and the target object are used to support the battery, and the push rod is used to act on the battery to switch the battery between being supported by the tray and being supported by the target object.

[0014] In the above technical solution, the position of the battery can be determined based on the position of the push rod, thereby determining the weight the tray bears and thus the expected height of the tray. The tray height can then be adjusted to the expected height. When the push rod extends, the tray's load-bearing capacity decreases; if the tray height is not actively adjusted, it will increase compared to its initial fully loaded height. Therefore, the tray height can be lowered to maintain alignment. When the push rod retracts, the tray's load-bearing capacity increases; if the tray height is not actively adjusted, it will decrease compared to its initial unloaded height. Therefore, the tray height can be raised to maintain alignment.

[0015] Preferably, adjusting the tray height specifically involves adjusting the height of the tray at a preset speed.

[0016] In the above technical solution, the preset speed can be determined based on factors such as the battery structure, size, and push-pull speed of the push rod, and the tray height can be controlled in a simple way.

[0017] Preferably, the battery removal and placement method further includes the following steps:

[0018] The position of the push rod is determined based on the parameters of the servo motor that drives the push rod to move.

[0019] In the above technical solution, the push rod moves under the drive of a servo motor. The parameters of the servo motor are relatively easy to obtain, so the position of the push rod can be easily determined.

[0020] Preferably, the adjustment of the tray height specifically involves:

[0021] Obtain the expected direction of movement of the tray; and

[0022] When the positioning element does not detect the reference element, the height of the tray is adjusted in a direction opposite to the expected direction of movement of the tray;

[0023] Wherein, when the load on the pallet increases, the expected direction of movement of the pallet is downward, and when the load on the pallet decreases, the expected direction of movement of the pallet is upward; the positioning element and the reference element are arranged opposite to each other, and one of the positioning element and the reference element is located on the pallet, and the other of the positioning element and the reference element is located on the target object.

[0024] In the above technical solution, the height of the tray can be adjusted in real time based on whether the positioning element detects the reference element. During the process of the push rod retracting to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray increases, the downward pressure on the tray increases (therefore, the expected direction of movement is downward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), and the tray needs to be adjusted upward. During the process of the push rod extending to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray decreases, the downward pressure on the tray decreases (therefore, the expected direction of movement is upward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), and the tray needs to be adjusted downward.

[0025] Preferably, the positioning element is a laser positioning device, and the reference element is a reflector.

[0026] In the above technical solution, the positioning element can be installed on the side of the tray, and the reference element can be installed on the side of the target object; or the positioning element can be installed on the side of the target object, and the reference element can be installed on the side of the tray; as long as the reflector can assist the laser positioning device in working. Preferably, when the push rod extends, the end of the tray near the target object is higher than or flush with the target object; and / or, when the push rod retracts, the end of the tray near the target object is lower than or flush with the target object.

[0027] In the above technical solution, when the push rod extends, the battery moves from the tray to the target object. The target object being flush with the tray or lower than the tray further facilitates the movement of the battery. When the push rod retracts, the battery moves from the target object to the tray. The target object being flush with the tray or higher than the tray further facilitates the movement of the battery.

[0028] Preferably, the battery removal and placement method further includes the following steps:

[0029] Before controlling the push rod to move relative to the tray, the tray height is pre-adjusted so that the height difference between the end of the tray closest to the target and the target is within the threshold range.

[0030] By using the above settings, the pallet is ensured to be aligned with the target object in the initial state.

[0031] Preferably, the pre-adjustment of the tray height before controlling the push rod to move relative to the tray includes the following steps:

[0032] Before the push rod extends, adjust the end of the tray closest to the target object to be higher than or flush with the target object;

[0033] And / or, before the push rod retracts, adjust the end of the tray closest to the target to be below or flush with the target.

[0034] In the above technical solution, when the push rod extends, the battery moves from the tray to the target object. Therefore, adjusting the target object to be flush with the tray or lower before extending it can further facilitate the movement of the battery. When the push rod retracts, the battery moves from the target object to the tray. Therefore, adjusting the target object to be flush with the tray or higher before retracting it can further facilitate the movement of the battery.

[0035] Preferably, the battery removal and placement method further includes the following steps:

[0036] The positioning detection status of the positioning sensor is obtained; the positioning detection status is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery;

[0037] Determine whether the positioning detection status is that the positioning distance signal has not been detected. If so, the push rod stops moving and / or indicates abnormal information.

[0038] In the above technical solution, the positioning sensor can detect whether the push rod is working properly on the battery. In abnormal situations (such as when there is no battery), it can stop the movement and / or indicate abnormal information to prevent errors.

[0039] Preferably, the step of obtaining the positioning detection status of the positioning sensors specifically involves obtaining the positioning detection status of at least two positioning sensors, wherein the at least two positioning sensors are set at intervals.

[0040] The specific steps of determining whether the positioning detection state is "not detected" are: determining whether at least one of the positioning sensors is in a positioning detection state of "not detected" regarding the positioning distance signal.

[0041] In the above technical solution, the two positioning sensors make the detection more accurate.

[0042] A battery loading and unloading system, characterized in that it includes: a push rod, a tray, and a controller;

[0043] The controller is used to control the movement of the push rod relative to the tray; and the controller is also used to adjust the height of the tray so that the height difference between the end of the tray near the target and the target is within a threshold range; the controller is used to adjust the height of the tray according to the position of the push rod; the controller is used to lower the height of the tray when the push rod extends; the controller is used to control the push rod to extend to push the battery to move relative to the tray so that the battery switches from being supported by the tray to being supported by the target.

[0044] And / or, the controller is configured to increase the height of the tray when the push rod retracts, the controller is configured to control the push rod to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray;

[0045] Both the tray and the target object are used to support the battery, and the push rod is used to act on the battery to switch the battery between being supported by the tray and being supported by the target object.

[0046] In the above technical solution, the position of the battery can be determined based on the position of the push rod, thereby determining the weight the tray bears and thus the expected height of the tray. The tray height can then be adjusted to the expected height. When the push rod extends, the load on the tray decreases, and if the tray height is not actively adjusted, it will increase compared to its initial fully loaded height; therefore, the tray height can be lowered to maintain alignment. When the push rod retracts, the load on the tray increases, and if the tray height is not actively adjusted, it will decrease compared to its initial unloaded height; therefore, the tray height can be raised to maintain alignment. Preferably, the controller is used to adjust the height of the tray at a preset speed.

[0047] In the above technical solution, the preset speed can be determined based on factors such as the battery structure, size, and push-pull speed of the push rod, and the tray height can be controlled in a simple way.

[0048] Preferably, the battery loading and unloading system further includes a servo motor for driving the push rod, and the controller is further configured to determine the position of the push rod based on the parameters of the servo motor.

[0049] In the above technical solution, the push rod moves under the drive of a servo motor. The parameters of the servo motor are relatively easy to obtain, so the position of the push rod can be easily determined.

[0050] Preferably, the controller is used to adjust the tray height, including:

[0051] The controller is used to obtain the expected direction of movement of the tray; and

[0052] The controller is used to adjust the height of the tray in a direction opposite to the expected direction of movement of the tray when the positioning element does not detect the reference element;

[0053] Wherein, when the load on the pallet increases, the expected direction of movement of the pallet is downward, and when the load on the pallet decreases, the expected direction of movement of the pallet is upward; the positioning element and the reference element are arranged opposite to each other, and one of the positioning element and the reference element is located on the pallet, and the other of the positioning element and the reference element is located on the target object.

[0054] In the above technical solution, the height of the tray can be adjusted in real time based on whether the positioning element detects the reference element. During the process of the push rod retracting to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray increases, the downward pressure on the tray increases (therefore, the expected direction of movement is downward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), and the tray needs to be adjusted upward. During the process of the push rod extending to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray decreases, the downward pressure on the tray decreases (therefore, the expected direction of movement is upward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), and the tray needs to be adjusted downward.

[0055] Preferably, the positioning element is a laser positioning device, and the reference element is a reflector.

[0056] In the above technical solutions, the positioning element can be installed on the tray side and the reference element can be installed on the target object side; or the positioning element can be installed on the target object side and the reference element can be installed on the tray side; as long as the reflector can assist the laser positioning device in working. Preferably, the controller is used to make the end of the tray near the target object higher than or flush with the target object when the push rod extends; and / or, the controller is used to make the end of the tray near the target object lower than or flush with the target object when the push rod retracts.

[0057] In the above technical solution, when the push rod extends, the battery moves from the tray to the target object. The target object being flush with the tray or lower than the tray further facilitates the movement of the battery. When the push rod retracts, the battery moves from the target object to the tray. The target object being flush with the tray or higher than the tray further facilitates the movement of the battery.

[0058] Preferably, the controller is further configured to pre-adjust the tray height before controlling the push rod to move relative to the tray, such that the height difference between the end of the tray closest to the target and the target is within the threshold range.

[0059] By using the above settings, the pallet is ensured to be aligned with the target object in the initial state.

[0060] Preferably, the controller is used to pre-adjust the tray height before controlling the push rod to move relative to the tray, including:

[0061] The controller is used to adjust the end of the tray near the target object to be higher than or flush with the target object before the push rod extends;

[0062] And / or, the controller is configured to adjust the end of the tray closest to the target object to be below or flush with the target object before the push rod retracts.

[0063] In the above technical solution, when the push rod extends, the battery moves from the tray to the target object. Therefore, adjusting the target object to be flush with the tray or lower before extending it can further facilitate the movement of the battery. When the push rod retracts, the battery moves from the target object to the tray. Therefore, adjusting the target object to be flush with the tray or higher before retracting it can further facilitate the movement of the battery.

[0064] Preferably, the battery retrieval and placement system further includes: a positioning sensor;

[0065] The controller is also used to acquire the positioning detection status of the positioning sensor; the positioning detection status is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery;

[0066] The controller is also used to determine whether the positioning detection state is that the positioning distance signal has not been detected. If so, the controller stops the push rod movement and / or indicates abnormal information.

[0067] In the above technical solution, the positioning sensor can detect whether the push rod is working properly on the battery. In abnormal situations (such as when there is no battery), it can stop the movement and / or indicate abnormal information to prevent errors.

[0068] Preferably, the battery access system includes: at least two positioning sensors, the at least two positioning sensors being spaced apart; and a controller for acquiring the positioning detection status of the at least two positioning sensors; and

[0069] The controller is used to determine whether the positioning detection state is that the positioning distance signal has not been detected. Specifically, the controller is used to determine whether at least one of the positioning sensors has a positioning detection state that the positioning distance signal has not been detected.

[0070] In the above technical solution, the two positioning sensors make the detection more accurate.

[0071] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0072] The positive and progressive effects of this invention are as follows:

[0073] In the battery loading and unloading method and system disclosed in this invention, the height of the tray (i.e., theoretical height) is adjusted in real time during the battery swapping process to ensure that the height difference between the end of the tray (i.e., actual height) and the target object (i.e., the battery support device on the electric vehicle or battery compartment) is within a threshold range. This ensures that the battery will not get stuck due to an excessively large actual height difference between the tray and the target object, thereby reducing the battery swapping failure rate. Attached Figure Description

[0074] Figure 1 This is a schematic flowchart of the battery removal and placement method according to Embodiment 1 of the present invention.

[0075] Figure 2 This is a schematic flowchart of the battery removal and placement method according to Embodiment 2 of the present invention.

[0076] Figure 3 This is a schematic flowchart of the battery removal and placement method according to Embodiment 3 of the present invention.

[0077] Figure 4 This is a schematic flowchart of the battery removal and placement method according to Embodiment 4 of the present invention.

[0078] Figure 5 This is a schematic flowchart of the battery removal and placement method according to Embodiment 5 of the present invention.

[0079] Figure 6 This is a schematic diagram of the battery loading and unloading system according to Embodiment 6 of the present invention.

[0080] Figure 7 This is a schematic diagram of the tray and push rod of the battery loading and unloading system in Embodiment 6 of the present invention.

[0081] Explanation of reference numerals in the attached figures:

[0082] S101, S102, S103, S104, S105, S106: Steps

[0083] S201, S202, S203, S204, S205, S206: Steps

[0084] S301, S302, S303, S304, S305, S306: Steps

[0085] S401, S402, S403, S404, S405, S406: Steps

[0086] S501, S502, S503, S504, S505, S506: Steps

[0087] 60: Battery Removal and Placement System

[0088] 610: Putter

[0089] 611: Battery Suction Cup

[0090] 612: Top pin

[0091] 620: Pallet

[0092] 630: Controller

[0093] 640: Servo motor

[0094] 650: Positioning sensor Detailed Implementation

[0095] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0096] Example 1

[0097] like Figure 1 As shown, the battery removal and placement method includes the following steps:

[0098] Step S101: Pre-adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. In this embodiment, this specifically involves adjusting the end of the tray closest to the target object to be higher than or flush with the target object. Both the tray and the target object are used to support the battery. The threshold range is ±2mm.

[0099] Step S102: Control the push rod to move relative to the tray. In this embodiment, step S102 specifically involves: controlling the push rod to extend and push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object.

[0100] Step S103: Adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. Specifically, adjusting the tray height in step S103 involves adjusting the tray height at a preset speed. This preset speed can be determined based on factors such as the battery's structure, size, and the push-pull speed of the push rod, allowing for simple control of the tray height. Furthermore, adjusting the tray height in step S103 specifically involves lowering the tray height. Because the tray's load-bearing capacity decreases as the push rod extends, the tray's height will increase compared to its initial full load height if the height is not actively adjusted; therefore, lowering the tray height maintains alignment. Moreover, ensuring the height difference between the end of the tray closest to the target object and the target object is within a threshold range in step S103 specifically means making the end of the tray closest to the target object higher than or level with the target object. Because when the push rod extends, the battery moves from the tray to the target object, having the target object level with the tray or lower further facilitates battery movement.

[0101] Step S104: Obtain the positioning detection status of the positioning sensors. The positioning detection status indicates whether the positioning sensors have detected a positioning distance signal, which represents the distance between the push rod's positioning position and the battery. In this embodiment, step S104 specifically involves obtaining the positioning detection status of at least two positioning sensors. These at least two positioning sensors are spaced apart and can both be positioned at the push rod's positioning position. Having at least two positioning sensors makes the detection more accurate.

[0102] Step S105: Determine whether the positioning detection state is "no positioning distance signal detected". In this embodiment, step S105 specifically involves: determining whether at least one positioning sensor's positioning detection state is "no positioning distance signal detected". If yes, proceed to step S106; otherwise, continue to step S104.

[0103] Step S106: The push rod stops moving and displays an abnormal message. The positioning sensor can detect whether the push rod is functioning properly with the battery. In abnormal situations (such as when there is no battery), it stops moving and displays an abnormal message to prevent errors.

[0104] For ease of description, steps S104-S106 are listed after steps S101-S103. However, those skilled in the art should understand that in alternative embodiments, steps S104-S106 may occur before steps S101-S103, simultaneously with steps S101-S103, or have no clear sequential relationship with steps S101-S103. Other embodiments of the present invention are similar.

[0105] In the above process, the height of the tray (theoretical height) is adjusted in real time to ensure that the height difference between the end of the tray (actual height) and the target object (battery support device on the electric vehicle or battery compartment) is within a threshold range. This ensures that the battery will not get stuck due to the excessive height difference between the tray and the target object, thus reducing the battery swapping failure rate.

[0106] Example 2

[0107] The battery removal and placement method in this embodiment is largely similar to that in Embodiment 1, the main difference being that: the battery removal and placement method in Embodiment 1 involves extending a push rod, while the battery removal and placement method in this embodiment involves retracting a push rod. Figure 2 As shown, the battery removal and placement method of this embodiment includes the following steps:

[0108] Step S201: Pre-adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. In this embodiment, this specifically involves adjusting the end of the tray closest to the target object to be lower than or flush with the target object. Both the tray and the target object are used to support the battery. The threshold range is ±2mm.

[0109] Step S202: Control the push rod to move relative to the tray. In this embodiment, step S202 specifically involves: controlling the push rod to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray.

[0110] Step S203: Adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. Specifically, adjusting the tray height in step S203 involves adjusting the tray height at a preset speed. This preset speed can be determined based on factors such as the battery's structure, size, and the push-pull speed of the push rod, allowing for simple control of the tray height. Furthermore, adjusting the tray height in step S203 specifically involves raising the tray height. Because the tray's load increases as the push rod retracts, the tray's height will decrease compared to its initial unloaded state if the height is not actively adjusted; therefore, raising the tray height helps maintain alignment. Moreover, ensuring the height difference between the end of the tray closest to the target object and the target object is within a threshold range in step S203 specifically means making the end of the tray closest to the target object lower than or level with the target object. Because the battery moves from the target object to the tray when the push rod retracts, having the target object level with the tray or higher further facilitates the battery's movement.

[0111] Step S204: Obtain the positioning detection status of the positioning sensors. The positioning detection status indicates whether the positioning sensors have detected a positioning distance signal, which represents the distance between the push rod's positioning position and the battery. In this embodiment, step S204 specifically involves obtaining the positioning detection status of at least two positioning sensors. The at least two positioning sensors are spaced apart.

[0112] Step S205: Determine whether the positioning detection status is "no positioning distance signal detected". In this embodiment, step S205 specifically involves: determining whether at least one positioning sensor's positioning detection status is "no positioning distance signal detected". If yes, proceed to step S206; otherwise, continue to step S204.

[0113] Step S206: The push rod stops moving and displays an abnormal message.

[0114] Example 3

[0115] like Figure 3 As shown, the battery removal and placement method of this embodiment includes the following steps:

[0116] Step S301: Pre-adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within the threshold range.

[0117] Step S302: Control the movement of the push rod relative to the tray.

[0118] Step S303: Adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. In this embodiment, adjusting the tray height specifically involves adjusting the tray height based on the position of the push rod; that is, the position of the battery can be determined based on the position of the push rod, thereby determining the weight the tray bears, thus determining the expected height of the tray, and adjusting the tray height to the expected height. Furthermore, in this step S303, the position of the push rod is determined based on the parameters of the servo motor that drives the push rod. In this way, the push rod moves under the drive of the servo motor, and the parameters of the servo motor are relatively easy to obtain, thus making it convenient to determine the position of the push rod.

[0119] Step S304: Obtain the positioning detection status of the positioning sensor.

[0120] Step S305: Determine whether the positioning detection status is "no positioning distance signal detected". If yes, proceed to step S306; otherwise, continue to step S304.

[0121] Step S306: The push rod stops moving.

[0122] Example 4

[0123] The battery placement and removal method in this embodiment is largely similar to that in Embodiment 1, both using a push-rod extension method. The main difference lies in the way the tray height is adjusted. Figure 4 As shown, the battery removal and placement method of this embodiment includes the following steps:

[0124] Step S401: Pre-adjust the tray height, that is: adjust the end of the tray closest to the target object to be higher than or level with the target object.

[0125] Step S402: Extend the control push rod to push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object.

[0126] Step S403, adjusting the tray height, specifically involves: obtaining the expected direction of movement of the tray; when the positioning element does not detect the reference element, adjusting the tray height in the opposite direction to the expected direction of movement. In this embodiment, due to the extension of the push rod, the load on the tray decreases, and the expected direction of movement of the tray is upward. The positioning element and the reference element are arranged opposite to each other, with one of the positioning element and the reference element located on the tray and the other on the target object. In this embodiment, specifically, the positioning element is a laser positioning device, and the reference element is a reflector. The positioning element can be installed on the side of the tray, and the reference element can be installed on the side of the target object. In step S403, initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray decreases, the downward pressure on the tray decreases (therefore, the expected direction of movement is upward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted downward.

[0127] Step S404: Obtain the positioning detection status of at least two positioning sensors.

[0128] Step S405: Determine whether at least one positioning sensor is in a positioning detection state where no positioning distance signal is detected. If yes, proceed to step S406; otherwise, continue to step S404.

[0129] Step S406: The push rod stops moving and displays an abnormal message.

[0130] Example 5

[0131] The battery placement and removal method in this embodiment is largely similar to that in Embodiment 2, both using a push rod retraction method. The main difference lies in the way the tray height is adjusted. Figure 5 As shown, the battery removal and placement method of this embodiment includes the following steps:

[0132] Step S501: Pre-adjust the tray height, that is: adjust the end of the tray closest to the target object to be lower than or level with the target object.

[0133] Step S502: Control the push rod to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray.

[0134] Step S503, adjusting the tray height, specifically involves: obtaining the expected movement direction of the tray; when the positioning element does not detect the reference element, adjusting the tray height in the opposite direction to the expected movement direction of the tray. In this embodiment, due to the retraction of the push rod, the load on the tray increases, and the expected movement direction of the tray is downward. The positioning element and the reference element are arranged opposite to each other, with one of the positioning element and the reference element located on the tray and the other on the target object. In this embodiment, specifically, the positioning element is a laser positioning device, and the reference element is a reflector. The positioning element can be installed on the target object side, and the reference element can be installed on the tray side. In step S503, initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray increases, the downward pressure on the tray increases (therefore, the expected movement direction is downward); until the positioning element no longer detects the reference element, it indicates that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted upward.

[0135] Step S504: Obtain the positioning detection status of at least two positioning sensors.

[0136] Step S505: Determine whether at least one positioning sensor is in a positioning detection state where no positioning distance signal is detected. If yes, proceed to step S506; otherwise, continue to step S504.

[0137] Step S506: The push rod stops moving and displays an abnormal message.

[0138] Example 6

[0139] like Figure 6-7 As shown, a battery loading and unloading system 60 includes: a push rod 610, a tray 620, a controller 630, a servo motor 640, and positioning sensors 650 (specifically, at least two positioning sensors 650). The tray 620 and the target object both support the battery. The push rod 610 acts on the battery to switch between being supported by the tray 620 and being supported by the target object. The push rod 610 has a battery suction cup 611 and a top pin 612 for mutual positioning and fixation with the battery. The target object is a battery support device for an electric vehicle or a battery compartment. The servo motor 640 drives the push rod 610 to move (specifically, perpendicular to the target object). Figure 7 (Motion in the plane). At least two positioning sensors are set at 650° intervals.

[0140] The battery pick-and-place system 60 in this embodiment 6 can be used to execute the battery pick-and-place methods in embodiments 1 to 5.

[0141] The controller 630 controls the movement of the push rod 610 relative to the tray 620; and the controller 630 adjusts the height of the tray 620 so that the height difference between the end of the tray 620 closest to the target and the target is within a threshold range. The threshold range is ±2mm.

[0142] The controller 630 is used to adjust the height of the tray 620 at a preset speed; or, the controller 630 is used to determine the position of the push rod 610 according to the parameters of the servo motor 640, and to adjust the height of the tray 620 according to the position of the push rod 610; or the controller 630 is used to obtain the expected direction of movement of the tray 620, and to adjust the height of the tray 620 in the opposite direction to the expected direction of movement of the tray 620 when the positioning element does not detect the reference element. Specifically, when the load on the tray 620 increases, the expected direction of movement of the tray 620 is downward; when the load on the tray 620 decreases, the expected direction of movement of the tray 620 is upward. The positioning element and the reference element are arranged opposite to each other, with one of the positioning element and the reference element located on the tray 620 and the other located on the target object. The positioning element is a laser positioning device, and the reference element is a reflector.

[0143] The controller 630 controls the movement of the push rod 610 relative to the tray 620, including: the controller 630 controlling the push rod 610 to extend to push the battery relative to the tray 620, so that the battery switches from being supported by the tray 620 to being supported by a target object; and / or, the controller 630 controlling the push rod 610 to retract to pull the battery relative to the tray 620, so that the battery switches from being supported by the target object to being supported by the tray 620. The controller 630 is configured to, when the push rod 610 is extended, ensure that the end of the tray 620 near the target object is higher than or flush with the target object; and / or, the controller 630 is configured to, when the push rod 610 is retracted, ensure that the end of the tray 620 near the target object is lower than or flush with the target object.

[0144] The controller 630 is used to adjust the height of the tray 620, including: the controller 630 is used to lower the height of the tray 620 when the push rod 610 is extended; and / or, the controller 630 is used to raise the height of the tray 620 when the push rod 610 is retracted.

[0145] The controller 630 is also configured to pre-adjust the height of the tray 620 before controlling the push rod 610 to move relative to the tray 620, such that the height difference between the end of the tray 620 closest to the target and the target is within a threshold range. The controller 630's pre-adjustment of the tray 620 height before controlling the push rod 610 to move relative to the tray 620 includes: adjusting the end of the tray 620 closest to the target to be higher than or flush with the target before the push rod 610 extends; and / or adjusting the end of the tray 620 closest to the target to be lower than or flush with the target before the push rod 610 retracts.

[0146] The controller 630 is also used to acquire the positioning detection status of the positioning sensor 650; the positioning detection status indicates whether the positioning sensor 650 has detected a positioning distance signal, which indicates the distance between the positioning position of the push rod 610 and the battery. The controller 630 is also used to determine whether the positioning detection status is that no positioning distance signal has been detected; if so, it stops the movement of the push rod 610 and / or indicates abnormal information.

[0147] The controller 630 is used to acquire the positioning detection status of at least two positioning sensors 650; and the controller 630 is used to determine whether the positioning detection status is that no positioning distance signal is detected. Specifically, the controller 630 is used to determine whether at least one positioning sensor 650 has a positioning detection status of no positioning distance signal detected.

[0148] In the description of this invention, an embodiment may be accompanied by multiple figures, and the reference numerals for the same component in the same embodiment are not necessarily marked in every figure; however, those skilled in the art should understand that when describing one or more figures in an embodiment, it can be understood in conjunction with other figures in that embodiment; those skilled in the art should understand that when no specific figure is specified as a text, it can be understood in conjunction with all figures in that embodiment.

[0149] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0150] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A method for removing and placing a battery, characterized in that, It includes the following steps: Control the movement of the push rod relative to the tray; and Adjust the tray height so that the height difference between the end of the tray closest to the target and the target is within a threshold range; adjust the tray height according to the position of the push rod; when the push rod extends, lower the tray height and control the push rod to extend to push the battery relative to the tray so that the battery switches from being supported by the tray to being supported by the target. And / or, when the push rod retracts, the height of the tray is increased, and the push rod is controlled to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray; Both the tray and the target object are used to support the battery, and the push rod is used to act on the battery so that the battery switches between being supported by the tray and being supported by the target object; The specific method of adjusting the tray height is: adjusting the height of the tray at a preset speed; The preset speed is determined based on the structure and size of the battery and the speed of the push rod, so as to adjust the height of the tray in real time during the battery swapping process.

2. The battery removal and placement method as described in claim 1, characterized in that, The battery removal and placement method further includes the following steps: The position of the push rod is determined based on the parameters of the servo motor that drives the push rod to move.

3. The battery removal and placement method as described in claim 1, characterized in that, The adjustment of the tray height specifically refers to: Obtain the expected direction of movement of the tray; and When the positioning element does not detect the reference element, the height of the tray is adjusted in the opposite direction to the expected direction of movement of the tray; Wherein, when the load on the pallet increases, the expected direction of movement of the pallet is downward, and when the load on the pallet decreases, the expected direction of movement of the pallet is upward; the positioning element and the reference element are arranged opposite to each other, and one of the positioning element and the reference element is located on the pallet, and the other of the positioning element and the reference element is located on the target object.

4. The battery removal and placement method as described in claim 3, characterized in that, The positioning element is a laser positioning device, and the reference element is a reflector.

5. The battery removal and placement method as described in claim 1, characterized in that, When the push rod extends, the end of the tray near the target object is higher than or flush with the target object; and / or, when the push rod retracts, the end of the tray near the target object is lower than or flush with the target object.

6. The battery removal and placement method as described in claim 1, characterized in that, The battery removal and placement method further includes the following steps: Before controlling the push rod to move relative to the tray, the tray height is pre-adjusted so that the height difference between the end of the tray closest to the target and the target is within the threshold range.

7. The battery removal and placement method according to any one of claims 1-6, characterized in that, The battery removal and placement method further includes the following steps: The positioning detection status of the positioning sensor is obtained; the positioning detection status is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery; Determine whether the positioning detection status is that the positioning distance signal has not been detected. If so, the push rod stops moving and / or indicates abnormal information.

8. The battery removal and placement method as described in claim 7, characterized in that, The specific steps of obtaining the positioning detection status of the positioning sensors are as follows: obtaining the positioning detection status of at least two positioning sensors, wherein the at least two positioning sensors are set at intervals. The specific steps of determining whether the positioning detection state is "not detected" are: determining whether at least one of the positioning sensors is in a positioning detection state of "not detected" regarding the positioning distance signal.

9. A battery loading and unloading system, characterized in that, It includes: Push rods, trays, and controllers; The controller is used to control the movement of the push rod relative to the tray; Furthermore, the controller is also used to adjust the height of the tray so that the height difference between the end of the tray closest to the target and the target is within a threshold range; the controller is used to adjust the height of the tray according to the position of the push rod; the controller is used to lower the height of the tray when the push rod extends; the controller is used to control the push rod to extend to push the battery relative to the tray so that the battery switches from being supported by the tray to being supported by the target. And / or, the controller is configured to increase the height of the tray when the push rod retracts, the controller is configured to control the push rod to retract to pull the battery relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray; both the tray and the target object are used to support the battery, and the push rod is configured to act on the battery to switch the battery between being supported by the tray and being supported by the target object; The controller is used to adjust the height of the tray at a preset speed; The preset speed is determined based on the structure and size of the battery and the speed of the push rod, so as to adjust the height of the tray in real time during the battery swapping process.

10. The battery pick-and-place system as described in claim 9, characterized in that, The battery loading and unloading system further includes a servo motor, which drives the push rod to move, and the controller is also used to determine the position of the push rod according to the parameters of the servo motor.

11. The battery pick-and-place system as described in claim 9, characterized in that, The controller is used to adjust the tray height, including: The controller is used to obtain the expected direction of movement of the tray; and The controller is used to adjust the height of the tray in a direction opposite to the expected direction of movement of the tray when the positioning element does not detect the reference element; Wherein, when the load on the pallet increases, the expected direction of movement of the pallet is downward, and when the load on the pallet decreases, the expected direction of movement of the pallet is upward; the positioning element and the reference element are arranged opposite to each other, and one of the positioning element and the reference element is located on the pallet, and the other of the positioning element and the reference element is located on the target object.

12. The battery placement and removal method as described in claim 11, characterized in that, The positioning element is a laser positioning device, and the reference element is a reflector.

13. The battery pick-and-place system as described in claim 9, characterized in that, The controller is configured to, when the push rod is extended, cause the end of the tray near the target object to be higher than or flush with the target object; and / or, the controller is configured to, when the push rod is retracted, cause the end of the tray near the target object to be lower than or flush with the target object.

14. The battery pick-and-place system as described in claim 9, characterized in that, The controller is also configured to pre-adjust the tray height before controlling the push rod to move relative to the tray, such that the height difference between the end of the tray closest to the target and the target is within the threshold range.

15. The battery pick-and-place system as described in any one of claims 9-14, characterized in that, The battery retrieval and placement system also includes: a positioning sensor; The controller is also used to acquire the positioning detection status of the positioning sensor; the positioning detection status is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery; The controller is also used to determine whether the positioning detection state is that the positioning distance signal has not been detected. If so, the controller stops the push rod movement and / or indicates abnormal information.

16. The battery pick-and-place system as described in claim 15, characterized in that, The battery retrieval and placement system includes: at least two positioning sensors, which are spaced apart; the controller is used to acquire the positioning detection status of the at least two positioning sensors; and The controller is used to determine whether the positioning detection state is that the positioning distance signal has not been detected. Specifically, the controller is used to determine whether at least one of the positioning sensors has a positioning detection state that the positioning distance signal has not been detected.

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